1 Answer
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You can learn a single power in the Normandy Medical bay. Learning a new one will replace the old power. It costs 5000 credits.

Powers will be unlocked through dialogue with your companions. Each has 2 powers to give, one generally unlocking fairly early and the other one significantly later. Make sure to talk to them after a mission both on the Normandy and in the various Citadel districts.

Do you get the points invested in those if you replace them?
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juanformosoMar 12 '12 at 18:39

If you have points assigned to a bonus power and pick a different power, those points will be unassigned automatically, so you'll need to manually assign them to the bonus power again.
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AdeeseMar 12 '12 at 18:40